Abstract: The complexity of advanced robot vision systems calls for an architectural framework with great flexibility with regards to sensory, hardware, processing, and communications requirements. We are currently developing a system that uses time-of-flight and a regular video stream for mobile robot vision applications. We present an architectural framework based on YARP, and evaluate its efficiency. Overall, we have found YARP to be easy to use, and our experiments show that the overhead is a reasonable tradeoff for the convenience.